Jafar: modules/ddf/include/ddf/tools.hpp Source File

00001 
00002 #ifndef DDF_TOOLS_HPP
00003 #define DDF_TOOLS_HPP
00004 
00005 #include <BayesFilter/bayesFlt.hpp>
00006 #include <boost/numeric/ublas/vector.hpp>
00007 #include <boost/numeric/ublas/matrix.hpp>
00008 
00009 #include "definitions.hpp"
00010 #include "ctime.hpp"
00011 #include "infocontainer.hpp"
00012 
00013 #define ZERO_THRESHOLD  1e-30
00014 #define TST_INC   1.0
00015 
00016 namespace jafar
00017 {
00018   namespace ddf
00019   {
00020 
00021     void PrettyPrintMatrix(MAT_UBLAS const& my_mat, char const* txt = NULL, double epsilon = ZERO_THRESHOLD);
00022     void PrettyPrintVector(VEC const& my_vec, char const* txt = NULL, double epsilon = ZERO_THRESHOLD);
00023 
00024     Bayesian_filter_matrix::Float compute_information_corr (Bayesian_filter::Linrz_correlated_observe_model& h,
00025         VEC const& z, SpeedUpInfoStruct &sp, VEC &i, MSYM &I);
00026     Bayesian_filter_matrix::Float compute_information_uncorr (Bayesian_filter::Linrz_uncorrelated_observe_model& h,
00027         VEC const& z, VEC &i, MSYM &I);
00028 
00029     Bayesian_filter_matrix::Float compute_state(VEC &y, MSYM &Y, VEC &x, MSYM &X);
00030 
00031     void matsym_assign(MSYM &dest, MSYM const& src);
00032 
00033     void CompPredNewInfo(MAT const& Fk, Bayesian_filter_matrix::ColMatrix const& invFk, MAT const& Gk, MAT const& invQk,
00034                          VEC const& yk, VEC const& ik, MSYM const& MkY, MSYM const& MkI, MSYM &Ip, VEC &ip,
00035                          SpeedUpInfoStruct &sp, MAT const& Bk, VEC const& uk);
00036 
00037     void CompPredNewInfo(MAT const& Fk, Bayesian_filter_matrix::ColMatrix const& invFk, MAT const& Gk, MAT const& invQk,
00038                          VEC const& yk, VEC const& ik, MSYM const& MkY, MSYM const& MkI, MSYM &Ip, VEC &ip,
00039                          SpeedUpInfoStruct &sp);
00040 
00041     bool vec_compare(VEC const& m1, VEC const& m2);
00042     bool mat_compare(MAT_UBLAS const& m1, MAT_UBLAS const& m2);
00043     void fill_diag(MSYM const& m, VEC &diag);
00044 
00045 
00046   } // namespace ddf
00047 } // namespace jafar
00048 #endif